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Equipping a spacecraft with multiple solar-powered electric engines (of the same or different types) compounds the task of optimal trajectory design due to presence of both real-valued inputs (power input to each engine in addition to the direction of thrust vector) and discrete variables (number of active engines). Each engine can be switched on/off independently and "optimal" operating power of each engine depends on the available solar power, which depends on the distance from the Sun. Application of the Composite Smooth Control (CSC) framework to a heliocentric fuel-optimal trajectory optimization from the Earth to the comet 67P/Churyumov-Gerasimenko is demonstrated, which presents a new approach to deal with multiple-engine problems. Operation of engine clusters with 4, 6, 10 and even 20 engines of the same type can be optimized. Moreover, engine clusters with different/mixed electric engines are considered with either 2, 3 or 4 different types of engines. Remarkably, the CSC framework allows us 1) to reduce the original multi-point boundary-value problem to a two-point boundary-value problem (TPBVP), and 2) to solve the resulting TPBVPs using a single-shooting solution scheme and with a random initialization of the missing costates. While the approach we present is a continuous neighbor of the discontinuous extremals, we show that the discontinuous necessary conditions are satisfied in the asymptotic limit. We believe this is the first indirect method to accommodate a multi-mode control of this level of complexity with realistic engine performance curves. The results are interesting and promising for dealing with a large family of such challenging multi-mode optimal control problems. • Optimization of low-thrust interplanetary trajectories with multiple engines. • Engine clusters with the same or different/mixed engine types are considered. • Same-type engine cluster with 4, 6, 10 and 20 engines are investigated. • Different-type engine clusters with 2, 3 and 4 engines are investigated. • Fuel-optimal trajectories from Earth to comet 67P/Churyumov-Gerasimenko. [ABSTRACT FROM AUTHOR]

Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such systems, in space applications, could be spacecraft equipped with 1) a variable- I sp , variable-thrust engine or 2) multiple engines each capable of switching on/off independently. To alleviate the challenges that arise when an indirect optimization method is used, a new framework — Composite Smooth Control (CSC) — is proposed that seeks smoothness over the entire spectrum of distinct control inputs. A salient aftermath of the application of the CSC framework is that the original multi-point boundary-value problem can be treated as a two-point boundary-value problem with smooth, differentiable control inputs; the latter is notably easier to solve, yet can be made to accurately approximate the former hybrid problem. The utility of the CSC framework is demonstrated through a multi-year, multi-revolution heliocentric fuel-optimal trajectory for a spacecraft equipped with a variable- I sp , variable-thrust engine. • Optimization of low-thrust interplanetary trajectories with variable specific impulse, variable thrust engines. • A new framework, called Composite Smooth Control (CSC), is developed to handle various types of state-triggered constraints. • Indirect optimization method is used to formulate fuel-optimal problems. • Complex-based derivative approach is used to construct co-state dynamics numerically. • Multi-revolution, multi-year trajectory optimization is analyzed. [ABSTRACT FROM AUTHOR]

Abstract An adaptive Collision Risk Assessment Tool (CRATER) is introduced in order to analyze conjunctions featuring non Gaussian distributions, long encounter times, and considerable model uncertainty. The algorithm makes use of the Fokker Planck equation to quantify the error in various assumptions, refine approximations of the propagated probability density functions (PDFs), and assess the need for external validation in some scenarios. A Local Gaussian approximation of the non-Gaussian propagated PDFs is introduced and shown to be comparable to Gaussian Mixture methods (GMM) in terms of accuracy, while exhibiting superior performance in terms of speed. The algorithm is made adaptive through the use of a non linearity index, which is used to determine the number of mixture components needed in a GMM or the spacing of local Gaussians when approximating the propagated PDFs. Coppola's method for calculating the probability of collision (PC) between space objects is modified to considering parametric model uncertainty. The PC integral is then incorporated into CRATER. CRATER is then used to compute the PC for 8 different test cases and is compared to Monte Carlo results. Highlights • New algorithm for probability of collision analysis is tested on eight test cases. • Model uncertainty shown to affect collision probability by orders of magnitude. • Alternative to gaussian mixture method shown to be faster with similar accuracy. • Error in assumptions are quantified with respect to Liouville equation. [ABSTRACT FROM AUTHOR]

Abstract: In this work we present a methodology for intelligent path planning in an uncertain environment using vision-like sensors, i.e., sensors that allow the sensing of the environment non-locally. Examples would include a mobile robot exploring an unknown terrain or a micro-UAV navigating in a cluttered urban environment. We show that the problem of path planning in an uncertain environment, under certain assumptions, can be posed as the adaptive optimal control of an uncertain Markov decision process, characterized by a known, control-dependent system, and an unknown, control-independent environment. The strategy for path planning then reduces to computing the control policy based on the current estimate of the environment, also known as the “certainty-equivalence” principle in the adaptive control literature. Our methodology allows the inclusion of vision-like sensors into the problem formulation, which, as empirical evidence suggests, accelerates the convergence of the planning algorithms. Further we show that the path planning and estimation problems, as formulated in this paper, possess special structure which can be exploited to significantly reduce the computational burden of the associated algorithms. We apply this methodology to the problem of path planning of a mobile rover in a completely unknown terrain. [Copyright &y& Elsevier]

Indirect optimization methods convert optimal control problems (OCPs) into two- or multi-point boundary-value problems. A highly desirable feature of indirect methods, specifically for space applications, is that high-resolution trajectories can be generated, which satisfy the first-order necessary conditions of optimality. A recently developed Composite Smoothing Control (CSC) framework is utilized to formulate and solve the problem of simultaneous trajectory optimization and propulsion sub-system design of spacecraft. A reasonable parameterized breakdown of the spacecraft mass is adopted, which captures the impact of power produced by the solar arrays and its contribution to the total spacecraft mass. Thus, the implicit trade-offs can be considered in the indirect optimization approach. The function space co-optimization problem of spacecraft power subsystem parameters along with the main trajectory is solved with the objective to maximize the payload delivered. The proposed framework amounts to an invariant embedding that reduces the original, difficult-to-solve, multi-point boundary-value problem into a two-point boundary-value problem with continuous, differentiable control inputs. Utility of the proposed construct is demonstrated through a low-thrust, multi-revolution, multi-year rendezvous maneuver to asteroid Dionysus with a variable-specific-impulse, variable-thrust modeled engine. This is the first time that indirect optimization methods have tackled such a complex co-optimization problem using the CSC framework. • Co-optimization of trajectory and solar electric propulsion system parameters. • Comparison of constant and variable- l s p thruster for low-thrust trajectory design. • Solve multi-point boundary value problem using Composite Smoothing Control (CSC). • Optimization over bounds of the l s p , variable thruster efficiency, and power is achieved. • Linear relation between thruster efficiency and l s p is near-accurate for early studies. [ABSTRACT FROM AUTHOR]

Abstract: In this paper, a semianalytic partition of unity finite element method (PUFEM) is presented to solve the transient Fokker–Planck equation (FPE) for high-dimensional nonlinear dynamical systems. Meshless spatial discretization of PUFEM with local -refinement (discussed in a previous paper) is employed to develop linear ordinary differential equations for the time varying coefficients of local shape functions. A similarity transformation to modal coordinates is shown to reveal numerous spurious modes in the eigenspace of the discretized FPE operator. Identification and elimination of these modes leads to an analytical solution of ODEs obtained from spatial discretization in terms of the remaining admissible modes, and a significant reduction in the size of the discretized transient problem. Initial equation error resulting from the set of admissible modes is shown to be an upper bound for all time, meaning that the reduced admissible set is sufficient for the FPE approximation for all time. [Copyright &y& Elsevier]

Abstract: The problem of real-time, on-board star pattern identification is considered which must precede any spacecraft attitude estimation algorithm based on measured line of sight directions to stars. Following the use of the search-less -vector method to access feasible candidate stars (detailed in a previous paper) a tiered logical structure is introduced in which inter-star angles for pairs, triples and general elementary star configurations are used to match measured patterns to corresponding patterns in a star catalog. Analytical expressions are developed for the expected frequency of matching an observed star pattern with an incorrect pattern in the star catalog due to measurement error. Such knowledge of erroneous match frequencies can be used to rigorously terminate the star identification process with a virtually certain match, while obviating the need for expensive Monte Carlo simulations. Developments shown are supported with a few simulation results. [Copyright &y& Elsevier]

Abstract: An iterative approach for the solution refinement of the stationary Fokker–Planck equation is presented. The recursive use of a modified norm induced on the solution domain by the most recent estimate of the stationary probability density function, is shown to significantly improve the accuracy of the approximation over the standard -norm based Galerkin error projection. The modified norm is argued to be naturally suited to the problem, and hence preferable over the standard -norm, because the former requires substantially fewer degrees of freedom for the same order of approximation accuracy, making it immediately attractive for the Fokker–Planck equation in higher dimensions. Additionally, it is shown that the modified norm can be utilized to progress through a homotopy of dynamical systems, , in order to determine the domain of the stationary distribution of a nonlinear system of interest, (corresponding to ) by starting with a known dynamical system (corresponding to ) and working upwards. The partition of unity finite element method is used for numerical implementation. The meshless nature of this technique facilitates the application of the modified-norm approach to higher dimensional problems. [Copyright &y& Elsevier]

In this work, end-to-end low-thrust transfers from a GTO orbit to a low-altitude lunar orbit by exploiting the manifolds of a chosen Earth–Moon L 1 halo orbit has been studied. The practicality of piece-wise, minimum-time transfers that exploit halo orbit manifolds is demonstrated, which offers more flexibility to meet mission objectives. It is known that the structure of the manifolds varies substantially due to the presence of the Sun and its contribution has to be considered to obtain more realistic trajectories. To incorporate Sun's perturbation, we study (1) manifolds' behavior within a Bi-Circular Problem (BCP) dynamics and (2) Sun's impact on the previously converged trajectories obtained using the standard Circular Restricted Three-Body Problem (CR3BP). Comparisons of the resulting trajectories using the CR3BP and BCP are presented. • Analyzed invariant manifolds in the CR3BP and BCP. • Methodology to analyze patch points on manifold for transfer trajectories. • Demonstrated feasibility of low-thrust transfer using invariant manifolds. • Designed Earth GTO to 1000 km circular lunar polar orbit via patching to manifolds. • Framework to merge periodic orbits and manifolds with indirect optimal control. [ABSTRACT FROM AUTHOR]